Robotic path plan extraction is one of the major study area focused with image processing techniques except from estimation based methods, in real time robotic systems. In this study; I. First phase: It is aimed to track a mobile robot and target point by detecting start and target points in real time image frames, continually. II. Second phase: It is aimed to exhibit a novel sensor free kinematic model to determine power ratio transferred to the left and right wheels of the robot with decision tree method by utilizing a graph based method on detected object points. Right and left wheel position, robot center and labeled target positions are acquired with thresholding method by using labels placed on robot. A graph has been created on an image by admitting all detected areas as nodes. The processes of orientating and delivering mobile robot to the target position has been modelled according to distance values of edges between wheels and target.